CN107094109B - Public network communication method for vehicle-mounted electronic processing unit system - Google Patents
Public network communication method for vehicle-mounted electronic processing unit system Download PDFInfo
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Abstract
The public network communication method of the vehicle-mounted electronic processing unit system divides each functional module into the functional characteristics and the data characteristics in detail through the data type, the functional type and the module number, and reserves sufficient space for the future development of the vehicle-mounted electronic processing unit system. By extracting the common part of the CAN network and the Ethernet, the public network communication method established by the patent enables basic structure contents such as nominal symbols, data types, function types, module numbers, parameter numbers and the like of all the function modules to be completely unified and communicate with each other, thereby realizing data interoperability and resource sharing between a host of a vehicle-mounted electronic processing unit and all the function modules and among all the function modules, and solving the problems of product disorder, mutual independence, incompatibility, single function, resource sharing and the like of a vehicle-mounted computer system (or a vehicle-mounted electronic product) in the current market.
Description
Technical Field
The invention relates to a communication method, in particular to a public network communication method of a vehicle-mounted electronic processing unit system.
Background
SAE J1939 is based on the Controller Area Network (CAN) developed by Bosch, Germany, and is recommended by the American Society of Automotive Engineers (SAE) for network communication standards between electronic components on heavy-duty road vehicles. The network application of the field bus of the heavy vehicle is described, the network application comprises protocols such as a CAN network physical layer (J1939-11), a data link layer (J1939-21), a network layer (J1939-31), an application layer (J1939-71), fault diagnosis (J1939-73) and network management (J1939-81), and the communication speed of the network application CAN reach 250 Kbps. SAE J1939 finds wide application in commercial vehicles, ships, rail locomotives, agricultural machinery, and large engines. Ethernet, which was originally created by Xerox corporation and is becoming a popular networking technology, manages the transfer of information over a network bus by individual network devices using the 802.3 standard as set forth by the Institute of Electrical and Electronics Engineers (IEEE). After decades of rapid development, it has become the most widely used and common network technology in the world, and is widely used in local area networks and enterprise backbones around the world. Furthermore, in order to make the ethernet have real-time transmission capability and meet the requirements of industrial field use, an industrial ethernet improved on the basis of the existing ethernet has been developed, and the most representative industrial ethernet includes siemens PROFINET, begaret power rlink, and EtherCAT of Beckhoff company in germany, and the industrial ethernet addresses the requirements of environment, safety and real-time data communication in the industrial field.
However, the existing technology does not have a complete vehicle-mounted computer system network implementation technology, nor a network communication protocol completely suitable for the vehicle-mounted computer system, and the vehicle-mounted computer systems (or vehicle-mounted electronic products) in the current market have various problems of product disorder, mutual independence, incompatibility, single function, resource sharing incapability and the like. The vehicle-mounted electronic processing unit system is an open type extensible vehicle-mounted computer public platform, a host only integrates basic hardware functions and an operating system, and other peripheral vehicle-mounted electronic products (such as GPS navigation, driving records, visual reversing, reversing radar and the like) are used as functional modules and hung on a CAN network or an Ethernet network of system extension, so that a complete vehicle-mounted electronic processing unit system is formed. In view of the above, a network communication method suitable for a vehicle-mounted electronic processing unit system is adopted, and the vehicle-mounted electronic processing unit system and each extended function module are connected into an organic whole by the special network communication method so as to realize data interoperability and resource sharing, which is a problem to be solved at present.
Disclosure of Invention
In order to solve the above technical problems, the present invention provides a public network communication method for a vehicle-mounted electronic processing unit system, which solves the problems of independence, incompatibility and resource sharing of the peripheral function modules of the vehicle-mounted electronic processing unit system.
The invention relates to a public network communication method of a vehicle-mounted electronic processing unit system, which comprises the following steps:
s1, the first functional module initiates a command or request communication to the second functional module according to the actual requirement, firstly, according to the characteristics and requirement of data communication, the module function and module type establish 4-bit data type, 4-bit function type, 8-bit source module number or source address and actual sending data comprising a plurality of data numbers, and establish TCP/UDP data domain and package into Ethernet frame according to the requirement of Ethernet data format, or establish 29-bit identifier ID and 8-byte data domain according to the requirement of CAN network format, form CAN extended frame;
s2, the first functional module sends Ethernet frame or CAN extension frame;
s3, when the Ethernet frame or CAN expansion frame reaches the second function module, the second function module receives and disassembles the Ethernet frame to obtain a TCP/UDP data domain, or receives the CAN expansion frame;
s4, the second function module analyzes TCP/UDP data field or CAN extended frame, to obtain 4 bit data type, 4 bit function type, 8 bit source module number or source address and actual sending data including multiple data numbers;
s5, the second function module makes success response or failure response according to the analysis result, and establishes 4-bit data type, 4-bit function type, 8-bit source module number or source address and actual sending data including a plurality of data numbers, and establishes TCP/UDP data domain according to the Ethernet data format requirement and encapsulates into response Ethernet frame, then sends response Ethernet frame; or establishing a 29-bit identifier ID and an 8-byte data field according to the CAN network format requirement to form a CAN response extension frame, and then sending the CAN response extension frame;
s6, if it is a successful response ACK, the second functional module needs to execute the command or request according to the requirement of the first functional module; if the command or the request needs to acquire the data of the second functional module, the second functional module also needs to send the required data to the first functional module;
s7, if it is failure response, the second function module does not execute the command or request required by the first function module, and returns directly.
The public network communication method of the vehicle-mounted electronic processing unit system divides each functional module into the functional characteristics and the data characteristics in detail through the data type, the functional type and the module number, and reserves sufficient space for the future development of the vehicle-mounted electronic processing unit system. By extracting the common part of the CAN network and the Ethernet, the common network communication method formulated by the patent realizes complete unification and mutual communication of basic structure contents such as nominal symbols, data types, function types, module numbers, parameter numbers and the like of all the function modules. Meanwhile, according to the characteristics and the difference of the CAN network and the Ethernet communication, the frame format and the Ethernet data field format of the CAN network are formulated in detail, and the acquisition and the query of the source address of the CAN network function module are realized through address declaration, address success, address failure and address inquiry methods. The public network communication method of the vehicle-mounted electronic processing unit system sets parts such as data types, function types, parameter numbers and the like in communication data, also provides a source address calculation formula of a CAN network function module, and realizes a statement method, a response method and an inquiry method of a preferred address; and the data type, the function type, the source module number, the parameter number and the data are added in the corresponding Ethernet data communication, so that the public network of the vehicle-mounted electronic processing unit system CAN be mutually converted in the CAN network and the Ethernet communication, and the method is suitable for unified communication information of the vehicle-mounted electronic processing unit system, thereby realizing data interoperability and resource sharing between the host machine of the vehicle-mounted electronic processing unit and each function module and among each function module, and solving the problems of product disorder, mutual independence, mutual incompatibility, single function, resource sharing incapability and the like of the vehicle-mounted computer system (or vehicle-mounted electronic product) in the current market.
Drawings
FIG. 1 is a flow chart of a public network communication method of a vehicle-mounted electronic processing unit system according to the invention.
FIG. 2 is a schematic diagram of a CAN network extension frame structure of the vehicle-mounted electronic processing unit system of the present invention.
Fig. 3 is a flow chart of the acquisition of a CAN network source address of the present invention.
FIG. 4 is a schematic representation of the data types of the on-board electronic processing unit system of the present invention.
FIG. 5 is a diagram of the function types and module numbers of the vehicle electronic processing unit system according to the present invention.
FIG. 6 is a diagram illustrating the nominal symbol structure of the functional modules in the vehicle-mounted electronic processing unit system according to the present invention.
FIG. 7 is a schematic diagram of an address declaration structure of a CAN network function module of the vehicle-mounted electronic processing unit system.
Detailed Description
Referring to fig. 1 and 2, a public network communication method of a vehicle-mounted electronic processing unit system according to the present invention includes the following steps: s1, the first functional module initiates a command or request communication to the second functional module according to the actual requirement, firstly, according to the characteristics and requirement of data communication, the module function and module type establish 4-bit data type, 4-bit function type, 8-bit source module number or source address and actual sending data comprising a plurality of data numbers, and establish TCP/UDP data domain and package into Ethernet frame according to the requirement of Ethernet data format, or establish 29-bit identifier ID and 8-byte data domain according to the requirement of CAN network format, form CAN extended frame; s2, the first functional module sends Ethernet frame or CAN extension frame; s3, when the Ethernet frame or CAN expansion frame reaches the second function module, the second function module receives and disassembles the Ethernet frame to obtain a TCP/UDP data domain, or receives the CAN expansion frame; s4, the second function module analyzes TCP/UDP data field or CAN extended frame, to obtain 4 bit data type, 4 bit function type, 8 bit source module number or source address and actual sending data including multiple data numbers; s5, the second function module makes success response or failure response according to the analysis result, and establishes 4-bit data type, 4-bit function type, 8-bit source module number or source address and actual sending data including a plurality of data numbers, and establishes TCP/UDP data domain according to the Ethernet data format requirement and encapsulates into response Ethernet frame, then sends response Ethernet frame; or establishing a 29-bit identifier ID and an 8-byte data field according to the CAN network format requirement to form a CAN response extension frame, and then sending the CAN response extension frame; s6, if the response is successful, the second functional module executes the command or request according to the requirement of the first functional module; if the command or the request needs to acquire the data of the second functional module, the second functional module also needs to send the required data to the first functional module; s7, if it is failure response, the second function module does not execute the command or request required by the first function module, and returns directly. The method divides each functional module into detail according to the functional characteristics and the data characteristics by including the contents of the data type, the functional type, the module number and the like in a communication data frame, enables the communication information to include the contents of the same format by using the communication method, enables each functional module of the vehicle-mounted electronic to acquire the corresponding data information, and reserves sufficient space for the future development of a vehicle-mounted electronic processing unit system.
As shown in fig. 2, when the on-board electronic processing unit host uses CAN network data for communication, the 29-bit identifier ID includes six parts, i.e., a 3-bit priority (P), a 1-bit reserved bit (R), a 1-bit Data Page (DP), an 8-bit PDU Format (PF), an 8-bit PDU specific field (PS), and an 8-bit Source Address (SA). In the present invention, a 3-bit priority (P), a 1-bit reserved bit (R), a 1-bit Data Page (DP), and an 8-bit PDU Format (PF) are selected as P =3 or 6, R =0, DP =0, and PF =255, respectively. Wherein the 8-bit PDU specific field is divided into two parts, wherein the upper 4 bits are data type and the lower 4 bits are function type.
Any CAN bus function must first obtain a successful Source Address (SA) before it CAN function properly. As shown in fig. 3, the obtaining step of the source address includes: s1, the function module sends a use statement to the CAN network for the preferred address, the Source Address (SA) of the address statement frame uses the preferred address, and the address statement frame is sent in a broadcast mode to inform all the function modules in the CAN network; if the preferred address is not occupied, the preferred address is used as its source address, and if the preferred address is occupied, the process proceeds to step S2; s2, the host computer of the vehicle-mounted electronic processing unit allocates an address to the function module, firstly, other unoccupied addresses with the same function type are selected, if the existing address is empty, the host computer of the vehicle-mounted electronic processing unit allocates the existing empty address to the function module, and if the empty address with the same function type does not exist, the step S3 is executed; s3, the host computer of the vehicle-mounted electronic processing unit selects the unoccupied address from the whole range as the address of the function module, if the existing address is empty, the host computer of the vehicle-mounted electronic processing unit distributes the existing empty address to the function module, if all the addresses in the whole range are occupied, the host computer of the vehicle-mounted electronic processing unit sends an address failure frame to the function module.
In the public network communication method of the vehicle-mounted electronic processing unit system, 16 data communication types can be defined for the 4-bit data type, and the data communication types are divided into four priority levels including a highest priority level, a high priority level, a common priority level and a low priority level according to the numerical value of the data type; the 4-bit function types can be divided into 16 types according to the function difference of each function module, and are specifically defined as the function types of the vehicle-mounted electronic processing unit host and various function modules.
As shown in fig. 4, an embodiment of the present invention may make specific specification on the data communication type according to the nature and usage of the actual communication data of the functional module, such as: the failure (0000) data type has the highest priority. Since the data type is located at the high 4 bits of the PS, the arbitration of the data type with high priority will be successful according to the principle of bit-by-bit arbitration when the CAN bus access conflicts. While the definition of the data type makes appropriate reservations for subsequent extensions. And, the data type is divided into two kinds, one kind uses the global message to communicate, one kind is to communicate to the particular destination address, the global type does not need to point out the destination address, its data field 1-3 bytes are parameter number or data, and when needing to point out the Destination Address (DA) for the particular type, its data field first byte is DA, only then parameter number or data. The data type for command requests (0101 and 0110) includes four types of command, request, successful response (ACK), and failed response (NACK). The basic format is the same, and the difference is that the definition of the specific data of the data field is different. Global type commands or requests to which responses are also global type, and specific type commands or requests to which responses are also specific type.
As shown in fig. 5, an embodiment of the present invention can be classified into 16 categories according to the function of each functional module, specifically defining the types of the host and the driving safety of the vehicle-mounted electronic processing unit, personal safety, vehicle theft prevention, recording equipment, detection components, fault diagnosis, audio/video equipment, navigation positioning, network communication, air environment, entertainment equipment, development equipment, and reserved functions.
As shown in FIG. 6, the present invention defines a uniform nominal symbol for Ethernet and CAN networks in order to accurately determine the various functional modules in the on-board electronic processing unit system. The length of the nominal character is 8 bytes, the nominal character comprises 1 bit of a network type, 1 bit of a source address declaration, reserved 2 bits, 4 bits of a function type, 8 bits of a module number, 3 bytes of a manufacturer code and 3 bytes of an identity number. In the invention, the network type is 0 if the CAN network interface is adopted by the limited function module, and the network type is 1 if the Ethernet network interface is adopted by the function module.
For the functional module of the CAN network interface, the length of a nominal character of a CAN network of the vehicle-mounted electronic processing unit system is 8 bytes, the network type is 1 bit, the source address declares 1 bit, 2 bits are reserved, the functional type is 4 bits, the module number is 8 bits, the manufacturer code is 3 bytes, and the identity number is 3 bytes. The network type is 0, the CAN network is represented, when the source address declaration is 0, the source address declares that the source address of the functional module directly uses the preferred address, when the source address declaration is 1, the source address of the functional module needs the address declaration to use, and the reserved bit is set to be zero. The manufacturer code and identity number are different from but have the same meaning as defined in SAE J1939-81.
For the functional module of the Ethernet interface, the length of a nominal character of the Ethernet of the vehicle-mounted electronic processing unit system is 8 bytes, the network type is 1 bit, the source address declares 1 bit, 2 bits are reserved, the functional type is 4 bits, the module number is 8 bits, the manufacturer code is 3 bytes, and the identity number is 3 bytes. Wherein the network type is 1, which means ethernet, the source address is declared to be 0, and the reserved bit should be set to zero. Since the MAC address of the ethernet network card is allocated by IEEE (institute of electrical and electronics engineers), and has a length of 48 bits, where the first 24 bits are the code of the network hardware manufacturer, and the last 24 bits are the serial number (i.e., the identification number of the product) of a certain network product (such as a network card) manufactured by the manufacturer, the last 48 bits of the function module nominal symbol are the same as the MAC address. Namely, the nominal character of the Ethernet of the vehicle-mounted electronic processing unit system function module can directly utilize the existing MAC address and is formed by adding the inherent characteristics of the 2-byte function module in front of the existing MAC address.
For a functional module there must be at least one network interface (CAN network or ethernet network) with at least one nominal character. However, the same functional module may extend both the CAN network and the ethernet interface (e.g., gateway), thus allowing the same functional module to have multiple different nominal identifiers, representing different interfaces, one for each identifier. The functional module nominal symbol is followed by 48 bits of the manufacturer code and the identity number, and both the CAN network and the Ethernet network must have uniqueness and cannot be overlapped.
The nominal symbol of the present invention includes 8 bits of module number, and one embodiment thereof can be shown in fig. 5, wherein function type =0 and module number =00H is specific to the on-board electronic processing unit host (belonging to a particular functional module). Such as: network communication, function type =1000, and the module number range is 0-255, and at present, 5 kinds of module numbers of gateway (00H), WIFI module (01H), GSM module (02H), 3G module (03H), and 4G module (04H) are defined, and the rest module numbers are reserved for subsequent function modules. The module number is 8 bits in length and is the arrangement serial number of the functional modules of the same type, that is, each functional type can be assigned with up to 256 different module numbers, so that the vehicle-mounted electronic processing unit system can accommodate 16 × 256=4096 different functional module devices in total.
The invention also comprises 1-3 byte destination address, parameter number or data in the data field of Ethernet frame or CAN extended frame, and the rest part is the communication data of vehicle electronic processing unit system. The destination address is 1 byte, and the destination address is not necessary. The parameter number (1-2 bytes) is not necessary, and the length of the parameter number is 1-2 bytes, and 65536 different parameters are allowed at most. Different parameter numbers can be selected according to the specific data transmission requirements of each functional module, and one (or one group) of parameters corresponds to one number. Parameter numbering may be omitted if the functional module has only one (or a group of) parameters and is unambiguous. The CAN network parameter number is 1-3 bytes of the data field, and the Ethernet parameter number is immediately followed by the 8-bit source module number.
The method of the present invention is specifically described below with reference to communication between a CAN network ultrasonic car backing radar and an ethernet ultrasonic car backing radar as an embodiment.
The communication process of the vehicle-mounted electronic processing unit host and the CAN network ultrasonic reversing radar module is as follows:
when the vehicle-mounted electronic processing unit host computer adopts CAN network data to carry out communication, because any CAN network functional module must obtain a successful Source Address (SA) before working normally, namely the Source Address (SA) of the functional module is determined firstly.
As shown in fig. 7, after the CAN network reverse sensor module is powered on, because the source address is empty, it first needs to calculate its preferred address = (function classification × 16) xor (module number) = (0 × 16) xor (01H) =01H, that is, the preferred address of the reverse sensor module is 01H, then the reverse sensor module uses the preferred address as the Source Address (SA) to send an address declaration frame to the CAN network, because the address declaration is sent in a broadcast manner, all the functional modules in the CAN network CAN monitor and receive, and after the vehicle-mounted electronic processing unit host receives the address declaration frame of the reverse sensor module, it is checked whether the address 01H is occupied by other functional modules.
If the address 01H is not occupied, the vehicle-mounted electronic processing unit host sends a successful response frame in a broadcasting mode, all functional modules in the CAN network CAN monitor and receive the successful response frame, the address 01H is registered no matter whether the source address is empty or not, and the reversing radar module uses the address 01H as the source address after receiving the successful address frame;
if the address 01H is occupied, the vehicle-mounted electronic processing unit host tries to allocate an address to the reversing radar module, firstly, other unoccupied addresses (address = (function classification) × 16) exclusive or (module number) with the same function type (0000) are selected, 16 addresses CAN be allocated to each function type according to a calculation formula, the 05H address is assumed to be empty, the vehicle-mounted electronic processing unit host allocates a new address 05H to the reversing radar module and sends a successful response frame in a broadcasting mode, all function modules in the CAN network CAN monitor and receive, the address 05H is registered no matter whether the source address is empty, and the reversing radar module uses the address 05H as the source address after receiving the address successful frame;
if 16 addresses with the same function type are all occupied, the vehicle-mounted electronic processing unit host selects an unoccupied address from the whole range (1-255) as the address of the reversing radar module, the 9AH address is assumed to be empty, the vehicle-mounted electronic processing unit host distributes a new address 9AH to the reversing radar module and sends an address success frame in a broadcasting mode, all function modules in the CAN network CAN monitor and receive the address, the address 9AH is registered no matter whether the source address is empty, and the reversing radar module uses the address 9AH as the source address after receiving the address success frame;
if all the addresses in the whole range (1-255) are occupied, the vehicle-mounted electronic processing unit host sends address failure frames to the functional modules to notify all the functional modules, and the reversing radar module stops working after receiving address failure.
When a certain functional module (such as an address 10H of the anti-hijack module) monitors an unidentifiable address 9AH in a normal use state, the anti-hijack module CAN send an address inquiry frame in a broadcasting mode, when the reverse radar receives the address inquiry frame to inquire the reverse radar, the reverse radar sends an address declaration frame in a broadcasting mode to inform all functional modules in the CAN network, the Source Address (SA) in the frame is 9AH, and the data field is a reverse radar nominal character. At this time, other functional modules (including the vehicle-mounted electronic processing unit host) in the CAN network firstly monitor and analyze to know that the address declaration frame is a response to the address inquiry and discard the address declaration frame, and the functional module with the address of 10H receives the address declaration frame and obtains the content of the nominal symbol in the address declaration frame data field, so as to determine and identify the address of 9AH as the CAN network reversing radar.
When the CAN network reversing radar module obtains a successful source address (such as SA = 01H), the CAN network reversing radar module CAN enter a normal use working state, the vehicle-mounted electronic processing unit host (SA = 00H) CAN send a control command to the reversing radar module, and the reversing radar module CAN also send a response (ACK) and reversing radar module distance data to the vehicle-mounted electronic processing unit host, so that data communication is realized. The specific communication process is as follows:
the vehicle-mounted electronic processing unit host sends a starting command to the reversing radar module, a CAN2.0B extended frame format is used, wherein P =3, R =0, DP =0 and PF = FFH, meanwhile, the starting command is sent by using a specific command request (0110), the function type of the starting command is 0000, PS =60H, a Source Address (SA) is 00H, a Destination Address (DA) is 01H, the starting command is 01H, a 29-bit identifier ID and an 8-byte data field are established, the starting command is sent to the CAN network, when the reversing radar module receives the frame data, the upper 4 bits of the PS are analyzed to be the specific command request (0110), then the lower 4 bits (0000) of the PS are analyzed to be the host or the driving safety function type, then the Source Address (SA) is analyzed to be 00H, the command sent by the vehicle-mounted electronic processing unit host is indicated, the first-byte Destination Address (DA) of the data field is continuously analyzed to be 01H, and determining that the command is sent to the reversing radar, and then analyzing the second byte of the data field to be 01H, wherein the command is required to start a distance measuring function of the reversing radar. The reversing radar immediately starts the distance measuring function of the reversing radar, saves the starting state, and automatically measures the distance and sends the distance data of the reversing radar after the reversing radar is electrified every time.
Then the reversing radar module sends a success response (ACK) to the vehicle-mounted electronic processing unit host, a CAN2.0B extended frame format is used, wherein P =3, R =0, DP =0, PF = FFH, meanwhile, the ACK is sent by using a specific command request (0110), the function type of the ACK is 0000, PS =60H, a Source Address (SA) is 01H, a Destination Address (DA) is 00H, the success response (ACK) is E0H, a 29-bit identifier ID and an 8-byte data field are established, then the ACK is sent to the CAN network, after the vehicle-mounted electronic processing unit host receives the frame data, the PS upper 4 bits are analyzed to be the specific command request (0110), then the PS lower 4 bits (0000) are analyzed to be the host or the driving safety function type, then the Source Address (SA) is analyzed to be 01H, the response sent by the reversing radar module is indicated, the first-byte Destination Address (DA) of the data field is analyzed to be 00H continuously, the response is determined to be issued to the on-board electronic processing unit host and a second byte of the data field is then analyzed as E0H indicating that the response is a successful response (ACK). So far, the vehicle-mounted electronic processing unit host determines that the opening command sent by the vehicle-mounted electronic processing unit host is received by the reversing radar module.
The method comprises the steps of collecting vehicle distance data in real time through ultrasonic backing, sending the backing radar vehicle distance data in real time, and sending the backing radar vehicle distance data in a CAN2.0B extended frame format, wherein P =3, R =0, DP =0, and PF = FFH, meanwhile, the vehicle distance data are sent through real-time data (0100), the function types of the vehicle distance data are 0000, PS =40H, a Source Address (SA) is 01H, a data field is channel A, channel B, channel C and channel D are 4 bytes of distance data in total. And establishing a 29-bit identifier ID and an 8-byte data field, then sending the identifier ID and the 8-byte data field to a CAN network, after the vehicle-mounted electronic processing unit host receives the frame data, firstly analyzing the high 4 bit of the PS as real-time data (0100), then analyzing the low 4 bit (0000) of the PS as a host or a driving safety function type, then analyzing a Source Address (SA) as 01H, indicating the real-time data sent by the reversing radar module, then reading a value 105,107,108,110 of the first 4 bytes of the data field, comparing and obtaining the minimum value 105 of 4 channels, and then calculating and restoring the actual distance to 1.05 meters for corresponding processing.
The communication process of sending a closing command to the ultrasonic reversing radar module and the NACK response of the ultrasonic reversing radar module to the command by the vehicle-mounted electronic processing unit host is similar to the above.
The communication process between the vehicle-mounted electronic processing unit host and the Ethernet ultrasonic reversing radar module is as follows:
the vehicle-mounted electronic processing unit host sends an opening command to the reversing radar module, UDP protocol transmission is adopted, a UDP data field is established according to format requirements, a first byte is a high 4-bit data type (0101) and a low 4-bit function type (0000), a second byte is a source module number 00H, a third byte is an opening command 01H, the source port number in a UDP head is a vehicle-mounted electronic processing unit host port and a target port number is a reversing radar module port, and finally an Ethernet frame is encapsulated into an Ethernet frame and sent to the Ethernet by a sending port, the Ethernet ultrasonic reversing radar receiving port receives the Ethernet frame sent by the vehicle-mounted electronic processing unit host, the reversing radar obtains the UDP data field after being disassembled and assembled, the reversing radar obtains the UDP source port and the UDP target port and analyzes the first byte high 4-bit data type (0101) and the low 4-bit function type (0000) in the UDP data field to know that the vehicle-mounted electronic processing unit host sends the command to the vehicle, and then analyzing the serial number of the source module as 00H, confirming that the command is sent by the vehicle-mounted electronic processing unit host again, finally analyzing the third byte as 01H to know that the command is a command for starting the range finding function of the reversing radar, starting the range finding function of the reversing radar immediately by the reversing radar, storing the starting state, and automatically measuring the distance and sending the distance data of the reversing radar after the reversing radar is powered on every time.
Then the reversing radar module sends a success response (ACK) to the vehicle-mounted electronic processing unit host, UDP protocol transmission is adopted, a UDP data field is established according to format requirements, a first byte is a high 4-bit data type (0101) and a low 4-bit function type (0000), a second byte is a source module number 01H, a third byte is an opening success response (ACK) E0H, a source port number in a UDP head is a reversing radar module port and a destination port number is a vehicle-mounted electronic processing unit host port, finally, the reversing radar module port and the destination port number are packaged into Ethernet frames, the Ethernet frames are sent to the Ethernet by a sending port, the vehicle-mounted electronic processing unit host receives the Ethernet frames sent by the Ethernet ultrasonic reversing radar, a UDP data field is obtained after the vehicle-mounted electronic processing unit host is disassembled and assembled, the vehicle-mounted electronic processing unit host firstly obtains the UDP source port and the UDP destination port and analyzes the first byte high 4-bit data type (0101) and the low 4-bit function type (0000) in the UDP data field to, the source module number 01H is then analyzed and again confirms that the response was sent by the reverse radar module, and finally the third byte is analyzed as E0H, indicating that the response is a successful response (ACK). So far, the vehicle-mounted electronic processing unit host determines that the opening command sent by the vehicle-mounted electronic processing unit host is received by the reversing radar module.
The method comprises the steps that ultrasonic reversing real-time vehicle distance data are collected and sent in real time, a UDP (user Datagram protocol) protocol is adopted for transmission, a UDP (user Datagram protocol) data field is established according to format requirements, a first byte high 4-bit data type (0100) and a low 4-bit function type (0000) are provided, a second byte is a source module number 01H, a channel A, a channel B, a channel C and a channel D share 4 bytes of distance data, a source port number in a UDP head is a reversing radar module port and a target port number in a UDP (user Datagram protocol) head is a vehicle-mounted electronic processing unit host port, the source port number and the target port number are finally packaged into Ethernet frames, the Ethernet frames are sent to an Ethernet through a sending port, a receiving port of a vehicle-mounted electronic processing unit host receives the Ethernet frames sent by the Ethernet ultrasonic reversing radar, a UDP data field is obtained after the vehicle-mounted electronic processing unit host is disassembled and assembled, the vehicle-mounted electronic processing unit host firstly obtains the UDP source And analyzing the vehicle distance data sent by the module, analyzing the serial number of the source module to be 01H, confirming that the data is real-time data sent by the reversing radar module again, reading the value 105,107,108,110 of the next 4 bytes, comparing and obtaining the minimum value 105 of the 4 channels, and calculating and restoring the actual distance to be 1.05 meters for corresponding processing.
The communication process of sending a closing command to the ultrasonic reversing radar module and the NACK response of the ultrasonic reversing radar module to the command by the vehicle-mounted electronic processing unit host is similar to the above.
Claims (3)
1. A public network communication method of a vehicle-mounted electronic processing unit system is characterized by comprising the following steps:
s1, the first functional module initiates a command or request communication to the second functional module according to the actual requirement, firstly, according to the characteristics and requirement of data communication, the module function and module type establish 4-bit data type, 4-bit function type, 8-bit source module number or source address and actual sending data comprising a plurality of data numbers, and establish TCP/UDP data domain and package into Ethernet frame according to the requirement of Ethernet data format, or establish 29-bit identifier ID and 8-byte data domain according to the requirement of CAN network format, form CAN extended frame;
s2, the first functional module sends Ethernet frame or CAN extension frame;
s3, when the Ethernet frame or CAN expansion frame reaches the second function module, the second function module receives and disassembles the Ethernet frame to obtain a TCP/UDP data domain, or receives the CAN expansion frame;
s4, the second function module analyzes TCP/UDP data field or CAN extended frame, to obtain 4 bit data type, 4 bit function type, 8 bit source module number or source address and actual sending data including multiple data numbers;
s5, the second function module makes success response or failure response according to the analysis result, and establishes 4-bit data type, 4-bit function type, 8-bit source module number or source address and actual sending data including a plurality of data numbers, and establishes TCP/UDP data domain according to the Ethernet data format requirement and encapsulates into response Ethernet frame, then sends response Ethernet frame; or establishing a 29-bit identifier ID and an 8-byte data field according to the CAN network format requirement to form a CAN response extension frame, and then sending the CAN response extension frame;
s6, if the response is successful, the second functional module executes the command or request according to the requirement of the first functional module; if the command or the request needs to acquire the data of the second functional module, the second functional module also needs to send the required data to the first functional module;
s7, if it is failure response, the second function module does not execute the command or request required by the first function module, and returns directly;
the CAN network adopts SAE J1939 extended frame format, namely 3-bit priority, 1-bit reserved bit, 1-bit data page, 8-bit PDU format, 8-bit PDU specific domain, 8-bit source address and 8-byte data domain;
the obtaining step of the source address comprises:
s7-1, the function module sends a use statement to the CAN network for the preferred address, the source address of the address statement frame uses the preferred address, the address statement frame is sent in a broadcast mode to inform all the function modules in the CAN network; if the preferred address is not occupied, the preferred address is used as its source address, and if the preferred address is occupied, the process proceeds to step S7-2;
s7-2, the host computer of the vehicle-mounted electronic processing unit allocates an address to the function module, firstly, other unoccupied addresses with the same function type are selected, if the addresses are empty, the host computer of the vehicle-mounted electronic processing unit allocates the existing empty addresses to the function module, and if the empty addresses with the same function type do not exist, the step S7-3 is carried out;
s7-3, the vehicle-mounted electronic processing unit host selects an unoccupied address from the whole range as the address of the functional module, if the existing address is empty, the vehicle-mounted electronic processing unit host allocates the existing empty address to the functional module, and if all the addresses in the whole range are occupied, the vehicle-mounted electronic processing unit host sends an address failure frame to the functional module;
the 4-bit data type can define 16 data communication types, and is divided into four types of priority levels including highest priority, high priority, common priority and low priority according to the magnitude of the data type value; the 4-bit function types can be divided into 16 types according to the function difference of each function module, and are specifically defined as the function types of the vehicle-mounted electronic processing unit host and each function module;
the Ethernet and the CAN define a uniform nominal character, the length of the nominal character is 8 bytes, the nominal character comprises 1 bit of network type, 1 bit of source address declaration, reserved 2 bits, 4 bits of function type, 8 bits of module number, 3 bytes of manufacturer code and 3 bytes of identity number;
the network type is 0 when the function module adopts the CAN network interface, and the network type is 1 when the function module adopts the Ethernet network interface.
2. The method as claimed in claim 1, wherein the 8-bit PDU specific field is divided into two parts, wherein the upper 4 bits are data type and the lower 4 bits are function type.
3. The vehicle electronic processing unit system public network communication method according to any one of claims 1-2, wherein the data field comprises 1-3 bytes of destination address, parameter number or data, and the rest is the communication data of the vehicle electronic processing unit system.
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| CN201710280263.6A CN107094109B (en) | 2017-04-26 | 2017-04-26 | Public network communication method for vehicle-mounted electronic processing unit system |
| PCT/CN2018/083344 WO2018196655A1 (en) | 2017-04-26 | 2018-04-17 | Public network communication method for on-board electronic processing unit system |
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| CN107094109B (en) * | 2017-04-26 | 2020-07-07 | 广州睿嵌电子技术有限公司 | Public network communication method for vehicle-mounted electronic processing unit system |
| JP6935273B2 (en) * | 2017-08-30 | 2021-09-15 | 矢崎総業株式会社 | Wired wireless composite communication system and wired wireless composite communication method |
| CN109995892B (en) * | 2019-03-29 | 2021-09-07 | 中铁二院工程集团有限责任公司 | Multi-communication system compatibility numbering method |
| KR20200136751A (en) * | 2019-05-28 | 2020-12-08 | 현대자동차주식회사 | Apparatus for communicating diagnosis of a vehicle, system having the same and method thereof |
| CN110381173A (en) * | 2019-06-26 | 2019-10-25 | 惠州市德赛西威智能交通技术研究院有限公司 | A kind of method of trailer-mounted radar dynamic IP address allocation |
| CN110989416B (en) * | 2019-08-26 | 2023-06-20 | 西南交通大学 | Whole vehicle control system based on real-time Ethernet bus |
| JP2021175096A (en) * | 2020-04-27 | 2021-11-01 | 株式会社ミツトヨ | Network apparatus |
| CN113359680B (en) * | 2021-06-28 | 2023-05-23 | 潍柴动力股份有限公司 | Data acquisition method and vehicle-mounted terminal |
| CN115550311B (en) * | 2022-11-28 | 2023-03-10 | 永联智慧能源科技(常熟)有限公司 | Address self-identification method, device, medium and electronic equipment based on CAN communication |
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| CN107094109B (en) * | 2017-04-26 | 2020-07-07 | 广州睿嵌电子技术有限公司 | Public network communication method for vehicle-mounted electronic processing unit system |
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